Title:
SYSTEM AND METHOD FOR COMPUTING GRASPS FOR A ROBOTIC HAND WITH A PALM
Document Type and Number:
WIPO Patent Application WO2005099417
Kind Code:
A9
Abstract:
A system and method for automatically computing desirable palm grasp configurations of an object by a robotic hand is disclosed. A description of the object's surface is obtained. A grasp configuration of a robotic hand comprising a palm and one or more fingers is selected, which specifies a hand configuration and joint variables of the hand, and a plurality of contact points on the object's surface for the palm and fingers. The coefficient of friction at each of the contact points is determined, and a description of one or more external wrenches to which may apply to the object is acquired. The ability of the robotic hand to hold the object against the external wrenches in the selected configuration is then computed. In some embodiments, a plurality of grasp configurations may be compared to determine which are the most desirable. In other embodiments, the space of hand configurations, or the smaller space of palm contact configurations, may be searched to find the most desirable grasp configurations.
Inventors:
HAGER GREGORY (US)
WEGBREIT ELIOT (US)
WEGBREIT ELIOT (US)
Application Number:
PCT/US2005/012634
Publication Date:
December 15, 2005
Filing Date:
April 12, 2005
Export Citation:
Assignee:
STRIDER LABS INC (US)
HAGER GREGORY (US)
WEGBREIT ELIOT (US)
HAGER GREGORY (US)
WEGBREIT ELIOT (US)
International Classes:
B25J9/16; B25J15/00
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